DART 6.12.2
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PackageResourceRetriever.hpp
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32
33#ifndef DART_UTILS_PACKAGERESOURCERETRIEVER_HPP_
34#define DART_UTILS_PACKAGERESOURCERETRIEVER_HPP_
35
36#include <unordered_map>
37#include <vector>
38
41
42namespace dart {
43namespace utils {
44
52{
53public:
57 const common::ResourceRetrieverPtr& _localRetriever = nullptr);
58
59 virtual ~PackageResourceRetriever() = default;
60
89 const std::string& _packageName, const std::string& _packageDirectory);
90
91 // Documentation inherited.
92 bool exists(const common::Uri& _uri) override;
93
94 // Documentation inherited.
95 common::ResourcePtr retrieve(const common::Uri& _uri) override;
96
97 // Documentation inherited.
98 std::string getFilePath(const common::Uri& uri) override;
99
100private:
102 std::unordered_map<std::string, std::vector<std::string> > mPackageMap;
103
104 const std::vector<std::string>& getPackagePaths(
105 const std::string& _packageName) const;
107 const common::Uri& _uri,
108 std::string& _packageName,
109 std::string& _relativePath) const;
110};
112
113using PackageResourceRetrieverPtr = std::shared_ptr<PackageResourceRetriever>;
114
115} // namespace utils
116} // namespace dart
117
118#endif // ifndef DART_UTILS_PACKAGERESOURCERETRIEVER_HPP_
#define DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
Definition ClassWithVirtualBase.hpp:44
#define DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
Definition ClassWithVirtualBase.hpp:43
ResourceRetriever provides methods for testing for the existance of and accessing the content of a re...
Definition ResourceRetriever.hpp:48
Retrieve local resources specified by package:// URIs by: (1) resolving the package path and (2) pass...
Definition PackageResourceRetriever.hpp:52
std::string getFilePath(const common::Uri &uri) override
Returns absolute file path to uri; an empty string if unavailable.
Definition PackageResourceRetriever.cpp:109
std::unordered_map< std::string, std::vector< std::string > > mPackageMap
Definition PackageResourceRetriever.hpp:102
void addPackageDirectory(const std::string &_packageName, const std::string &_packageDirectory)
Specify the directory of a ROS package.
Definition PackageResourceRetriever.cpp:57
virtual ~PackageResourceRetriever()=default
common::ResourcePtr retrieve(const common::Uri &_uri) override
Returns the resource specified by a URI or nullptr on failure.
Definition PackageResourceRetriever.cpp:91
bool exists(const common::Uri &_uri) override
Returns whether the resource specified by a URI exists.
Definition PackageResourceRetriever.cpp:72
const std::vector< std::string > & getPackagePaths(const std::string &_packageName) const
Definition PackageResourceRetriever.cpp:131
common::ResourceRetrieverPtr mLocalRetriever
Definition PackageResourceRetriever.hpp:101
bool resolvePackageUri(const common::Uri &_uri, std::string &_packageName, std::string &_relativePath) const
Definition PackageResourceRetriever.cpp:152
std::shared_ptr< Resource > ResourcePtr
Definition Resource.hpp:90
std::shared_ptr< ResourceRetriever > ResourceRetrieverPtr
Definition ResourceRetriever.hpp:77
std::shared_ptr< PackageResourceRetriever > PackageResourceRetrieverPtr
Definition PackageResourceRetriever.hpp:113
Definition BulletCollisionDetector.cpp:60
The Uri struct provides URI parsing and merging functionality based on RFC 3986.
Definition Uri.hpp:87